Sec. 6.

2 Continuum Mechanics Incremental Equations of Motion 501

pertaining to the use of the virtual work principie in linear analysis are now directly
applicable, with the current configuration at time t + ll.t being considered. 1
A fundamental difficulty in the general application of (6.13) is that the configuration
of the body at time t + ll.t is unknown. This is an important difference compared with
linear analysis in which it is assumed that the displacements are infinitesimally small so that
in (6.13) to (6.15) the original configuration is used. The continuous change in the config­
uration of the body entails some important consequences for the development of an incre­
mental analysis procedure. For example, an important consideration must be that the'
Cauchy stresses at time t + ll.t cannot be obtained by simply adding to the Cauchy stresses
at time t a stress increment that is due only to the straining of the material. Namely, the
calculation of the Cauchy stresses at time t + At must also take into account the rigid body
rotation of the material because the components of the Cauchy stress tensor also change
when the material is subjected to only a rigid body rotation.
The fact that the configuration of the body changes continuously in a large deforma­
tion analysis is dealt with in an elegant manner by using appropriate stress and strain
measures and constitutive relations, as discussed in detail in the next sections.
Considering the discussions to follow, we recognize that a difficult point in the presen­
tation of continuum mechanics relations for general large deformation analysis is the use of
an effective notation because there are many different quarttities that need to be dealt with.
The symbols used should display all necessary information but should do so in a compact
manner in arder that the equations can be read with relative ease. For effective use of a
notation, an understanding of the convention employed is most helpful, and for this purpose
we summarize here brieflyj some basic facts and conventions used in our notation.
ln our analysis we cbnsider the motion of the body in a fixed (stationary) Cartesian
coordinate system as displayed in Fig. 6.2. All kinematic and static variables are measured
in this coordinate system, and throughout our description we use tensor notation.
The co ordinates of a generic point P in the body at time O are ºxi, ºx2, ºx3; at time t
they are 'xi, 'x2, 'x3; and at time t + ll.t they are •+A•x1, •+A•x2, •+A•x3, where the left
superscripts refer to the configuration of the body and the subscripts to the coordinate axes.
The notation for the displacements of the body is similar to the notation for the
coordinates: at time t the displacements are' u;, i = 1, 2, 3, and at time t + ll.t the displace­
ments are •+A•u;, i = 1, 2, 3. Therefore, we have

i = 1, 2, 3 (6.16)

The increments in the displacements from time t to time t + ll.t are denoted as
f U.l = ,+A•u• - 'u•·
l i, i = 1, 2, 3 (6.17)
During motion of the body, its volume, surface area, mass density, stresses, and strains
are changing continuously. We denote the specific mass, area, and volume of the body at
times O, t, and t + ll.t as 0p , 'p , t+A• p; ºA, 'A, •+A•A; and 0v, 'V, •+A•v, respectively.
Since the configuration of the body at time t + ll.t is not known, we will refer applied
forces, stresses, and strains to a known equilibrium configuration. ln analogy to the notation
1
We may imagine that in considering the moving body, a picture is taken at time t + t!i.t an d then the
principie of virtual displacements is ap plied to the state of the body in that picture.
502 Finite Element Nonlinear Analysis in Solid and Structural Mechanics Chap. 6

used for coordinates and displacements, a left superscript indicates in which configuration
the quantity (body force, surface traction, stress, etc.) occurs; in addition, a left subscript
indicates the configuration with respect to which the quantity is measured. For exam ple, the
surface and body force components at time t + !1t, but measured in configuration O, are
1
+ªJff, 1 +'3/if?, i = 1, 2, 3. Here we have the exception that if the quantity under co nsider­
ation occurs in the sarne configuration in which it is also measured, the left subscript may
not be used; e.g., for the Cauchy stresses we have
t+ti.t� = t+tl.t�
•ij - t+ti.t •ij

ln the formulation of the governing equilibrium equations we also need to consider

derivatives of displacements and coordinates. ln our notation a comma denotes differenti­
ation with respect to the coordinate following, and the left subscript denoting time indicates
the configuration in which this coordinate is measured; thus we have, for example,
ar+ti.r
t+At - U;
oUi.J -
aoXj
o - a xm
º

and 1+ti.1Xm. n - ar+ti.t (6.18)

Xn

Using these conventions, we shall define new symbols when they are first encountered.

6.2.2 The Deformation Gradient, Strain, and Stress Tensors

We mentioned in the previous section that in a large deformation analysis special attention
must be given to the fact that the configuration of the body is changing continuously. This
change in configuration can be dealt with in an elegant manner by defining auxiliary stress
and strain measures. The objective in defining them is to express the internai virtual work
in (6.13) in terms of an integral over a volume that is known and to be able to incrementally
decompose the stresses and strains in an effective manner. There are various different stress
and strain tensors that, in principle, could be used (see L. E. Malvern [A], Y. C. Fung [A],
A. E. Green and W. Zerna [A], and R. Hill [A]). However, if the objective is to obtain an
effective overall finite element solution procedure, only a few stress and strain measures
need be considered. ln the following we first consider the motion of a general body and
define kinematic measures of this motion. We then introduce appropriate strain an d the
corresponding stress tensors. These are used later in the chapter to develop the incremental
general finite element equations.
Consider the body in Fig. 6.2 at a generic time t. A fundamental measure of the
deformation of the body is given by the deformation gradient, defined as2

2
The deformation gradient is denoted as F in other books, but we use the notation d X throughout this texl
because this symbol more naturally indicates that the differentiations of the coordinates 'x, with respect to the
coordinates 0 x1 are performed.